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[ins] convert ins subsystems to modules (#1740)

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and get rid of ins calls in main and register functions
This commit is contained in:
Felix Ruess
2016-06-25 17:45:30 +02:00
committed by GitHub
parent 02841d13c5
commit b97e23bdb3
49 changed files with 422 additions and 669 deletions
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conf/modules/ins.xml
+24
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="ins" dir="ins">
<doc>
<description>
simple INS with vertical filter.
</description>
<define name="USE_INS_NAV_INIT" value="TRUE|FALSE" description="Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)"/>
<define name="INS_INT_BARO_ID" value="BARO_BOARD_SENDER_ID" description="The ABI sender id of the baro to use"/>
<define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
<define name="INS_INT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
<define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
</doc>
<header>
<file name="ins_int.h" dir="subsystems/ins"/>
</header>
<init fun="ins_int_init()"/>
<makefile target="ap|nps">
<define name="INS_TYPE_H" value="subsystems/ins/ins_int.h" type="string"/>
<file name="ins.c" dir="subsystems"/>
<file name="ins_int.c" dir="subsystems/ins"/>
<file name="vf_float.c" dir="subsystems/ins"/>
</makefile>
</module>